From 0d8d4cd6e0e090a90537ac1265033f52b8ff3d86 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Thu, 2 Apr 2020 13:59:12 +0300 Subject: [PATCH] SITL configs: improve L1 tracking and increase backtransition duration -decrease L1 period for tighter mission tracking in fw mode - increase backtransition duration, we can now do this is we have active deceleration control Signed-off-by: RomanBapst --- ROMFS/px4fmu_common/init.d-posix/1030_plane | 2 ++ ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol | 2 ++ ROMFS/px4fmu_common/init.d-posix/1041_tailsitter | 1 + ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor | 2 ++ 4 files changed, 7 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/1030_plane b/ROMFS/px4fmu_common/init.d-posix/1030_plane index af725e8c5e..ea49ffc943 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1030_plane +++ b/ROMFS/px4fmu_common/init.d-posix/1030_plane @@ -28,6 +28,8 @@ then param set FW_RR_I 0.02 param set FW_RR_P 0.22 + param set FW_L1_PERIOD 12 + param set FW_W_EN 1 param set MIS_LTRMIN_ALT 30 diff --git a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol index b906754dd1..d05d489aa6 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol @@ -12,6 +12,7 @@ then param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 + param set FW_L1_PERIOD 12 param set MC_ROLLRATE_P 0.3 @@ -38,6 +39,7 @@ then param set VT_MOT_ID 1234 param set VT_FW_MOT_OFFID 1234 param set VT_TYPE 2 + param set VT_B_TRANS_DUR 8 fi diff --git a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter index 3c6856788d..04d76a4546 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter +++ b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter @@ -12,6 +12,7 @@ then param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 + param set FW_L1_PERIOD 12 param set MC_ROLLRATE_P 0.3 diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor index 3945feaaf9..ce6c66bf69 100644 --- a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor +++ b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor @@ -12,6 +12,7 @@ then param set FW_AIRSPD_MAX 25 param set FW_AIRSPD_MIN 14 param set FW_AIRSPD_TRIM 16 + param set FW_L1_PERIOD 12 param set MC_ROLLRATE_P 0.3 @@ -39,6 +40,7 @@ then param set VT_TILT_TRANS 1.2 param set VT_ELEV_MC_LOCK 0 param set VT_TYPE 1 + param set VT_B_TRANS_DUR 8 fi